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Wrapped more useful noiseModel methods

release/4.3a0
Frank Dellaert 2019-03-18 23:15:53 -04:00
parent 4b723107b3
commit a7e60a08fe
1 changed files with 19 additions and 1 deletions
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20
gtsam.h
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@ -1230,9 +1230,19 @@ virtual class Base {
virtual class Gaussian : gtsam::noiseModel::Base { virtual class Gaussian : gtsam::noiseModel::Base {
static gtsam::noiseModel::Gaussian* SqrtInformation(Matrix R); static gtsam::noiseModel::Gaussian* SqrtInformation(Matrix R);
static gtsam::noiseModel::Gaussian* Covariance(Matrix R); static gtsam::noiseModel::Gaussian* Covariance(Matrix R);
Matrix R() const;
bool equals(gtsam::noiseModel::Base& expected, double tol); bool equals(gtsam::noiseModel::Base& expected, double tol);
// access to noise model
Matrix R() const;
Matrix information() const;
Matrix covariance() const;
// Whitening operations
Vector whiten(Vector v) const;
Vector unwhiten(Vector v) const;
Matrix Whiten(Matrix H) const;
// enabling serialization functionality // enabling serialization functionality
void serializable() const; void serializable() const;
}; };
@ -1243,6 +1253,11 @@ virtual class Diagonal : gtsam::noiseModel::Gaussian {
static gtsam::noiseModel::Diagonal* Precisions(Vector precisions); static gtsam::noiseModel::Diagonal* Precisions(Vector precisions);
Matrix R() const; Matrix R() const;
// access to noise model
Vector sigmas() const;
Vector invsigmas() const;
Vector precisions() const;
// enabling serialization functionality // enabling serialization functionality
void serializable() const; void serializable() const;
}; };
@ -1269,6 +1284,9 @@ virtual class Isotropic : gtsam::noiseModel::Diagonal {
static gtsam::noiseModel::Isotropic* Variance(size_t dim, double varianace); static gtsam::noiseModel::Isotropic* Variance(size_t dim, double varianace);
static gtsam::noiseModel::Isotropic* Precision(size_t dim, double precision); static gtsam::noiseModel::Isotropic* Precision(size_t dim, double precision);
// access to noise model
double sigma() const;
// enabling serialization functionality // enabling serialization functionality
void serializable() const; void serializable() const;
}; };